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Robust adaptive fault-tolerant control for leader-follower flocking of uncertain multi-agent systems with actuator failure

Yazdani, S ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1016/j.isatra.2017.08.003
  3. Abstract:
  4. In this work, we study the flocking problem of multi-agent systems with uncertain dynamics subject to actuator failure and external disturbances. By considering some standard assumptions, we propose a robust adaptive fault tolerant protocol for compensating of the actuator bias fault, the partial loss of actuator effectiveness fault, the model uncertainties, and external disturbances. Under the designed protocol, velocity convergence of agents to that of virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well. © 2017 ISA
  5. Keywords:
  6. Actuator failure ; Multi-agent system ; Robust adaptive fault-tolerant control ; Actuators ; Adaptive control systems ; Fault tolerance ; Uncertainty analysis ; Actuator failures ; Connectivity preservation ; External disturbances ; Flocking ; Partial loss of actuator effectiveness ; Robust adaptive ; Standard assumptions ; Uncertainty ; Multi agent systems
  7. Source: ISA Transactions ; Volume 71 , 2017 , Pages 227-234 ; 00190578 (ISSN)
  8. URL: https://www.sciencedirect.com/science/article/pii/S0019057816304384